U.S. patent number 10,109,162 [Application Number 15/254,940] was granted by the patent office on 2018-10-23 for haptic effect enabled system using fluid.
This patent grant is currently assigned to IMMERSION CORPORATION. The grantee listed for this patent is IMMERSION CORPORATION. Invention is credited to Mansoor Alghooneh, Juan Manuel Cruz Hernandez, Vahid Khoshkava, Mohammadreza Motamedi.
United States Patent |
10,109,162 |
Alghooneh , et al. |
October 23, 2018 |
Haptic effect enabled system using fluid
Abstract
A haptic effect enabled system generates a haptic effect using
an electric potential responsive fluid. A haptic enabled apparatus
includes a fluid and a substrate. The fluid is responsive to an
electric field. The substrate is at least partially flexible and
defines a channel. The fluid is positioned within at least a
portion of the channel. A portion of the substrate proximal to the
fluid is stiffer than a portion of the substrate spaced from the
fluid, thereby creating a haptic effect.
Inventors: |
Alghooneh; Mansoor (San Jose,
CA), Khoshkava; Vahid (San Jose, CA), Cruz Hernandez;
Juan Manuel (Montreal, CA), Motamedi;
Mohammadreza (San Jose, CA) |
Applicant: |
Name |
City |
State |
Country |
Type |
IMMERSION CORPORATION |
San Jose |
CA |
US |
|
|
Assignee: |
IMMERSION CORPORATION (San
Jose, CA)
|
Family
ID: |
59772335 |
Appl.
No.: |
15/254,940 |
Filed: |
September 1, 2016 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20180061191 A1 |
Mar 1, 2018 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G08B
6/00 (20130101); G06F 3/016 (20130101); G06F
1/163 (20130101) |
Current International
Class: |
G08B
6/00 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Other References
Extended European Search Report for European Application No.
17001471.6 dated Jan. 22, 2018, 8 pages. cited by applicant .
M. Wang et al., "A reconfigurable liquid metal antenna driven by
electrochemically controlled capillarity", Journal of Applied
Physics 117, 194901 (2015), 6 pages. cited by applicant .
Shi-Yang Tang et al., "Liquid metal enabled pump", PNAS, vol. 111,
No. 9, Mar. 4, 2014, pp. 3304-3309. cited by applicant .
Ryan C. Gough et al., "Rapid electrocapillary deformation of liquid
metal with reversible shape retention", Micro and Nano Systems
Letters (2015) 3:4, pp. 1-9. cited by applicant .
IEEE Spectrum, "Shape-shifting Liquid-Metal Antennas", Posted Aug.
21, 2015, Available at:
http://spectrum.ieee.org/video/telecom/wireless/shapeshifting-liquidmetal-
-antennas, 4 Pages. cited by applicant .
AIP Publishing, "Tunable Liquid Metal Antennas", Journal of Applied
Physics, Retrieved on: May 19, 2015, Available at:
https://www.aip.org/publishing/journal-highlights/tunable-liquid-metal-an-
tennas, 4 Pages. cited by applicant.
|
Primary Examiner: Feild; Joseph
Assistant Examiner: Mortell; John
Attorney, Agent or Firm: Miles & Stockbridge P.C.
Claims
What is claimed is:
1. A haptic enabled apparatus comprising: a fluid including a
liquid metal; an electrolyte; a substrate being at least partially
flexible and defining a channel, the fluid and the electrolyte
being positioned within at least a portion of the channel, and a
portion of the substrate proximal to the fluid being stiffer than a
portion of the substrate spaced from the fluid; and wherein the
fluid moves through the channel and displaces the electrolyte
within the channel in response to an artificially-generated field,
and a stiffness of the substrate changes in response to the fluid
moving through the channel to deliver a haptic effect.
2. The haptic enabled apparatus of claim 1, wherein the
artificially-generated field includes an electric field.
3. The haptic enabled apparatus of claim 1, wherein the
artificially-generated field includes a magnetic field.
4. The haptic enabled apparatus of claim 1, wherein the liquid
metal is a gallium alloy.
5. The haptic enabled apparatus of claim 4, wherein the liquid
metal includes a eutectic of gallium and indium.
6. The haptic enabled apparatus of claim 1, wherein the electrolyte
is selected from the group consisting essentially of sodium
hydroxide (NaOH) and sodium chloride (NaCl).
7. The haptic enabled apparatus of claim 1, wherein the fluid
includes a ferrofluid.
8. The haptic enabled apparatus of claim 1, further comprising:
first and second electrodes, the first and second electrodes
positioned at opposite ends of the channel; and the liquid metal
flows through the channel in one direction when an electrical
potential having a polarity is applied to the first and second
electrodes; and the liquid metal flows through the channel in an
opposite direction when an electrical potential having an opposite
polarity is applied to the first and second electrodes.
9. The haptic enabled apparatus of claim 8, wherein the first and
second electrodes are connected to the opposite ends of the
channel.
10. The haptic enabled apparatus of claim 8, wherein the liquid
metal flowing through the channel in the one direction deposits
oxides on a surface of the liquid metal that interfaces with the
electrolyte, and the liquid metal flowing through the channel in
the opposite direction removes the oxides from the surface of the
liquid metal.
11. The haptic enabled apparatus of claim 8 further comprising: a
controller electrically connected to the first and second
electrodes, the controller configured to apply an electrical
potential across the first and second electrodes in response to a
drive signal, the electrical potential corresponding to movement of
the fluid and to information for communication to a user.
12. The haptic enabled apparatus of claim 11, wherein the
electrical potential has an amplitude in the range of about -0.7 V
to about +7.7 V.
13. The haptic enabled apparatus of claim 12, wherein the
electrical potential has at least one electrical characteristic
corresponding to the information for communication to a user, the
at least one electrical characteristic selected from the group
consisting essentially of frequency, amplitude, phase, inversion,
duration, waveform, attack time, rise time, fade time, lag time
relative to an event, and lead time relative to an event.
14. The haptic enabled apparatus of claim 1, further comprising: a
wearable article, the substrate being operably connected to the
wearable article.
15. The haptic enabled apparatus of claim 1, wherein the substrate
further defines a reservoir in fluid communication with the
channel.
16. The haptic enabled apparatus of claim 15, wherein the substrate
comprises: a first channel and a second channel separate from the
first channel, the first channel having a path that crosses over a
path of second channel at least one point within the substrate.
17. The haptic enabled apparatus of claim 15, wherein the substrate
includes a main portion and a contact portion, the contact portion
having lower stiffness than the main portion.
18. A method of automatically generating a haptic effect, the
method comprising: generating an artificially-generated field, the
artificially-generated field embodying information to communicate
to a user through a haptic effect; moving fluid through a channel
defined in a flexible substrate and displaces an electrolyte within
the channel in response to the artificially-generated field, the
fluid including a liquid metal; increasing a stiffness of at least
a portion of the flexible substrate in response to the fluid moving
through the channel, the increasing of the stiffness generating the
haptic effect and communicating the information.
19. The method of claim 18, wherein the artificially-generated
field includes an electric field.
20. The method of claim 18, wherein the artificially-generated
field includes a magnetic field.
21. The method of claim 18 further comprising: generating an
electrical signal, the electrical signal embodying the information
to communicate to a user through the haptic effect; applying the
electrical signal to first and second electrodes to generate the
artificially-generated field; and applying the
artificially-generated field to the channel defined in the flexible
substrate and the fluid.
22. The method of claim 18 wherein moving the fluid through the
channel in response to the artificially-generated field comprises:
moving fluid through the channel in one direction when the
artificially-generated field has a first polarity; and moving fluid
through the channel in an opposite direction when the
artificially-generated field has an opposite polarity.
23. The method of claim 22 wherein: moving the fluid through the
channel in one direction comprises depositing oxides on a surface
of the liquid metal; and moving the fluid through the channel in
the opposite direction comprises removing the oxides from the
surface of the liquid metal.
24. The method of claim 22 wherein: moving fluid through the
channel in one direction comprises increasing the stiffness of the
flexible substrate; and moving fluid through the channel in the
opposite direction comprises decreasing the stiffness of the
flexible substrate.
25. A haptic enabled apparatus wearable by a person, the apparatus
comprising: a wearable article; a fluid, the fluid being responsive
to an artificially-generated field, the fluid comprising a liquid
metal and an electrolyte; a substrates operably connected to the
wearable article, the substrate being at least partially flexible
and defining a channel, the fluid being positioned within at least
a portion of the channel and a portion of the substrate proximal to
the fluid being stiffer than a portion of the substrate spaced from
the fluid; first and second electrodes, the first and second
electrodes positioned proximal to opposite ends of the channel; a
controller electrically connected to the first and second
electrodes, the controller configured to generate an electrical
signal, the electrical signal embodying information to communicate
through a haptic effect, the electrical signal generating the
artificially-generated field when applied to the first and second
electrodes; wherein, when the artificially-generated field has one
polarity, an oxide is deposited on the liquid metal and the liquid
metal flows through the channel in one direction and increases a
stiffness of the substrate to deliver the haptic effect and
communicate the information; and wherein, when the
artificially-generated field has an opposite polarity, the oxide is
removed from the liquid metal and the liquid metal flows through
the channel in an opposite direction and the stiffness of the
substrate is decreased.
Description
BACKGROUND
Haptic effects are used to enhance the interaction of an individual
with a haptic-enabled device such as electronic devices, wearable
articles, or other types of things. They are delivered through
haptic actuators and typically enable the user to experience a
tactile sensation. Haptic effects can be used to simulate a
physical property or to deliver information such as a message, cue,
notification, or acknowledgment or feedback confirming a user's
interaction with the haptic-enabled device. However, such haptic
actuators consume power, which is at a premium in battery operated
articles such as phones, controllers, tables, and the like.
Additionally, state-of-the art haptic actuators do not always have
a form factor or the flexibility that lends itself to discrete
implementations in applications other than traditional electronic
devices such as clothing, wrist bands, and other types of wearable
articles.
SUMMARY
In general terms, this disclosure is directed to a haptic actuator
that uses fluid to increase the stiffness of a flexible substrate
to deliver a haptic effect.
One aspect is a haptic enabled apparatus including a fluid and a
substrate. The substrate is at least partially flexible and defines
a channel. The fluid is positioned within at least a portion of the
channel. A portion of the substrate proximal to the fluid is
stiffer than a portion of the substrate spaced from the fluid. The
fluid moves through the channel in response to a predetermined
field, and the stiffness of the substrate changes in response to
the moving fluid to deliver a haptic effect.
Another aspect is a method of automatically generating a haptic
effect. The method comprises: generating a field, the field
embodying information to communicate to a user through a haptic
effect; moving fluid through a channel defined in a flexible
substrate in response to the field; increasing the stiffness of at
least a portion of the substrate in response to the fluid moving
through the channel, the increased stiffness generating the haptic
effect and communicating the information.
Another aspect is a haptic enabled apparatus wearable by a person.
The apparatus comprises a wearable article and a fluid responsive
to a field. The fluid comprises a liquid metal and an electrolyte.
A substrate is operably connected to the wearable article, and the
substrate is at least partially flexible and defines a channel. The
fluid is positioned within at least a portion of the channel, and a
portion of the substrate proximal to the fluid is stiffer than a
portion of the substrate spaced from the fluid. First and second
electrodes are proximal to opposite ends of the channel. A
controller is electrically connected to the first and second
electrodes and is configured to generate an electrical signal. The
electrical signal embodies information to communicate through a
haptic effect. The electrical signal generates a field when applied
to the first and second electrodes. When the field has one
polarity, an oxide is deposited on the liquid metal and the liquid
metal flows through the channel in one direction and increases
stiffness of the substrate to deliver the haptic effect and
communicate the information. When the field has an opposite
polarity, the oxide is removed from the liquid metal and the liquid
metal flows through the channel in an opposite direction and
stiffness of the substrate is decreased.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram of a haptic enabled system in accordance
with an exemplary embodiment of the present disclosure.
FIG. 2 illustrates a more detailed block diagram of a possible
embodiment of the haptic enabled device as illustrated in FIG.
1.
FIG. 3 is a block diagram illustrating a networked environment in
which the haptic enabled devices illustrated in FIGS. 1 and 2 can
operate.
FIG. 4A is a schematic diagram of an exemplary embodiment of the
haptic actuator.
FIG. 4B is a cross sectional view of the haptic actuator of FIG.
4A.
FIG. 5 is a schematic cross sectional view of an alternative
example of the haptic actuator.
FIGS. 6A-6D illustrate operation of fluid in the actuator when
under an electrical potential.
FIG. 7 schematically illustrates a side view of the substrate to
describe a stiffness of the substrate.
FIG. 8 schematically illustrates another exemplary embodiment of
the haptic actuator.
FIGS. 9A and 9B schematically illustrate other exemplary
embodiments of the haptic actuator.
FIG. 10 is a schematic diagram of another exemplary embodiment of
the haptic actuator.
FIGS. 11A and 11B are schematic diagrams of yet another exemplary
embodiment of the haptic actuator.
FIG. 12 schematically illustrates an example application of the
haptic enabled device.
FIG. 13 schematically illustrates another example application of
the haptic enabled device.
FIG. 14 schematically illustrates yet another example application
of the haptic enabled device.
DETAILED DESCRIPTION
Various embodiments will be described in detail with reference to
the drawings, wherein like reference numerals represent like parts
and assemblies throughout the several views. Reference to various
embodiments does not limit the scope of the claims attached hereto.
Additionally, any examples set forth in this specification are not
intended to be limiting and merely set forth some of the many
possible embodiments for the appended claims.
Whenever appropriate, terms used in the singular also will include
the plural and vice versa. The use of "a" herein means "one or
more" unless stated otherwise or where the use of "one or more" is
clearly inappropriate. The use of "or" means "and/or" unless stated
otherwise. Terms such as "comprise," "comprises," "comprising,"
"include," "includes," "including," "such as," "has," and "having"
are interchangeable and not intended to be limiting. For example,
the term "including" shall mean "including, but not limited
to."
In general, the present disclosure relates to a haptic-enabled
apparatus that employs a fluid to generate a haptic effect. In an
exemplary embodiment, the apparatus comprises a substrate that
defines a channel through which the fluid can flow. A pump
mechanism moves the fluid through the channel. As fluid moves
through the channel, pressure increases in the portion of the
channel proximal to the fluid and the portion of the substrate
proximal to the fluid becomes stiffer. Such a change in stiffness
can deliver a tactile sensation to a user and thus deliver a haptic
effect. As discussed in more detail, the pump mechanism can be any
type of mechanism, electrochemical process, capillary mechanism, or
other phenomenon or action that can cause fluid to flow. Examples
of such pump mechanisms and processes include electrodes,
electrochemical reactions, and mechanical mechanisms.
A haptic effect can be any type of tactile sensation delivered to a
person. In some embodiments, the haptic effect embodies information
such as a cue, notification, feedback or confirmation of a user's
interaction with a haptic-enabled article, or a more complex
message or other information. In alternative embodiments, the
haptic effect can be used to enhance a user's interaction with a
device by simulating a physical property or effect such as
friction, flow, and detents.
FIG. 1 illustrates a block diagram of one of many possible
embodiments of a haptic-enabled article 100. In the specific
embodiments disclosed herein, the haptic-enabled article 100 is a
wearable article that includes a haptic actuator 102, a controller
104, and an input device 106. The haptic enabled article 100 can be
any type of article that can be used to deliver haptic effects to a
person. For example, the haptic-enabled article 100 can be a
wearable article such as shirts; pants; shoes and other footwear;
coats, jackets and other outerwear; hats; belts and suspenders;
neckties; scarves; athletic equipment; safety and protective
equipment such as helmets, protective vests, and body armor;
medical devices and fitness trackers such as heart rate monitors,
pedometers, ambulatory infusion pumps, glucose meters, insulin
pumps; jewelry; watches and watchbands; eyeglasses and goggles;
virtual reality headsets; prosthetics such as artificial limbs;
accessories such as purses and wallets; and anything else that can
be carried on the body or in clothing. Although wearable articles
are disclosed herein, the haptic-enabled article 100 also can be
other things such as cell phones; computers; tablets; electronic
games; game controllers; pointers such a mouse or pen; cases and
covers for electronic devices; and other things and electronic
devices.
In some embodiments and as illustrated in FIG. 1, the actuator 102,
the controller 104, the input device 106, and the haptic enabled
article 100 are incorporated into a single device, which can be
worn or carried by a user. In other embodiments, at least one of
the actuator 102, the controller 104, and the input device 106 are
separately arranged from the others and connected to each other
either wirelessly or by wire.
The controller 104 is any type of circuit that controls operation
of the actuator 102 based on receiving a signal or data from the
input device 106. Data can be any type of parameters, instructions,
flags, or other information that is processed by the processors,
program modules, and other hardware disclosed herein.
The input device 106 operates to monitor or detect one or more
events associated with a user of the haptic enabled article 100, or
performed by the user, of which the user can be informed with a
haptic feedback. The input device 106 is any device that inputs a
signal into the controller 104. An example of an input device 106
is a control device such as a switch or other type of user
interfaces. Another example of an input device 106 is a transducer
that inputs a signal into the controller 104. Examples of
transducers that can be used as an input device 106 include
antennas and sensors. Various embodiments can include a single
input device or can include two or more input devices.
Additionally, various embodiments can include different types of
input devices. For example, at least some possible embodiments
include a switch and a transducer such as an antenna or a sensor.
When the input device 106 is stimulated and inputs a signal to the
controller 104, the controller 104 operates the actuator 102 to
provide a haptic effect to the person wearing or interacting with
the article 100.
FIG. 2 illustrates a more detailed block diagram of a possible
embodiment of the haptic enabled article 100 (also referred to
herein as a wearable article) as illustrated in FIG. 1.
In this embodiment, as discussed in FIG. 1, the article 100
includes the haptic actuator 102, the controller 104, and the input
device 106. Examples of the input device 106 can include one or
more user interface devices 110, a sensor 112, and an antenna 113.
Various embodiments can include just one of these input devices 106
or combinations of a user interface 110, sensor 112, or antenna
113. Various embodiments also can include multiple input devices of
the same type. For example, an embodiment can include two sensors
112. The input device 106 is in electrical communication with the
controller 104. An actuator drive circuit or device 114 is in
electrical communication with the controller 104 and the actuator
102.
Various embodiments of the actuator 102 are disclosed in more
detail herein. An advantage of the actuators 102 disclosed herein
is that they improve flexibility and require less power to be
actuated than many other types of haptic actuators.
The user interface devices 110 include any device or mechanism
through which a user can view information, or input commands or
other information into the haptic enabled article 100. Examples of
user interface devices 110 include touchscreens, cameras,
mechanical inputs such as buttons and switches, and other types of
input components.
The sensor 112 can be any instrument or other device that outputs a
signal in response to receiving a stimulus. The sensor 112 can be
hardwired to the controller 104 or can be connected to the
controller 104 wirelessly. The sensor 112 can be used to detect or
sense a variety of different conditions, events, environmental
conditions, the operation of condition of an article, the presence
of other people or objects, or any other condition or thing capable
of stimulating a sensor.
Examples of sensors 112 include acoustical or sound sensors such as
microphones; vibration sensors; chemical and particle sensors such
as breathalyzers, carbon monoxide and carbon dioxide sensors, and
Geiger counters; electrical and magnetic sensors such as voltage
detectors or hall-effect sensors; flow sensors; navigational
sensors or instruments such as GPS receivers, altimeters,
gyroscopes, or accelerometers; position, proximity, and
movement-related sensors such as piezoelectric materials,
rangefinders, odometers, speedometers, shock detectors; imaging and
other optical sensors such as charge-coupled devices (CCD), CMOS
sensors, infrared sensors, and photodetectors; pressure sensors
such as barometers, piezometers, and tactile sensors; force sensors
such as piezoelectric sensors and strain gauges; temperature and
heat sensors such as thermometers, calorimeters, thermistors,
thermocouples, and pyrometers; proximity and presence sensors such
as motion detectors, triangulation sensors, radars, photo cells,
sonars, and hall-effect sensors; biochips; biometric sensors such
as blood pressure sensors, pulse/ox sensors, blood glucose sensors,
and heart monitors. Additionally, the sensors 112 can be formed
with smart materials, such as piezo-electric polymers, which in
some embodiments function as both a sensor and an actuator.
The actuator drive circuit 114 is a circuit that receives a haptic
signal (also referred to herein as a drive signal) from the
controller 104. The haptic signal embodies haptic data associated
with haptic effects, and the haptic data defines parameters the
actuator control circuit 114 uses to generate a haptic actuation
signal. In exemplary embodiments, such parameters relate to, or are
associated with, electrical characteristics. Examples of electrical
characteristics that can be defined by the haptic data includes
frequency, amplitude, phase, inversion, duration, waveform, attack
time, rise time, fade time, and lag or lead time relative to an
event. The haptic actuation signal is applied to the actuator 102
to define movement of fluid in the actuator 102 and thus provide
one or more haptic effects.
In one embodiment, the haptic actuation signal is a signal that
applies a potential across two or more electrodes as discussed in
more detail herein. In other embodiments, the actuation signal is
applied to and drives an electromechanical pump or other possible
pumping mechanism.
The controller 104 comprises a bus 116, processor 118, input/output
(I/O) controller 120, and memory 122. The bus 116 includes
conductors or transmission lines for providing a path to transfer
data between the components in the controller 104 including the
processor 118, memory 112, and I/O controller 120. The bus 116
typically comprises a control bus, address bus, and data bus.
However, the bus 116 can be any bus or combination of busses,
suitable to transfer data between components in the controller
104.
The I/O controller 120 is circuitry that monitors operation of the
controller 104 and peripheral or external devices such as the user
interface devices 110, the sensor 112 and the actuator drive
circuit 114. The I/O controller 120 also manages data flow between
the controller 104 and the peripheral devices and frees the
processor 118 from details associated with monitoring and
controlling the peripheral devices. Examples of other peripheral or
external devices with which the I/O controller 120 can interface
includes external storage devices; monitors; input devices such as
keyboards and pointing devices; external computing devices;
antennas; other articles worn by a person; and any other remote
devices.
The processor 118 can be any circuit configured to process
information and can include any suitable analog or digital circuit.
The processor 118 also can include a programmable circuit that
executes instructions. Examples of programmable circuits include
microprocessors, microcontrollers, application specific integrated
circuits (ASIC), programmable gate arrays (PLA), field programmable
gate arrays (FPGA), or any other processor or hardware suitable for
executing instructions. In various embodiments, the processor 118
can be a single unit or a combination of two or more units. If the
processor 118 includes two or more units, the units can be
physically located in a single controller or in separate
devices.
The memory 122 can include volatile memory such as random access
memory (RAM), read only memory (ROM), electrically erasable
programmable read only memory (EEPROM), flash memory, magnetic
memory, optical memory, or any other suitable memory technology.
The memory 122 also can include a combination of volatile and
nonvolatile memory.
The memory 122 can store a number of program modules for execution
by the processor 118, including an event detection module 124, a
haptic determination module 126, a haptic control module 134, and a
communication module 130. Each module is a collection of data,
routines, objects, calls, and other instructions that perform one
or more particular task. Although certain modules are disclosed
herein, the various instructions and tasks described herein can be
performed by a single module, different combinations of modules,
modules other than those disclosed herein, or modules executed by
remote devices that are in communication, either wirelessly or by
wire, with the controller 104.
The event detection module 124 is programmed to receive data from
the sensor 112, the antenna, or a remote device. Upon receiving the
data, the event detection module 124 determines whether the
received data relates to an event, condition, or operating state
associated with a haptic effect.
Upon identification of an event associated with a haptic effect,
the haptic determination module 126 analyzes the data received from
the sensor 112, antenna, or remote device to determine a haptic
effect to deliver through the actuator 102. An example technique
the haptic determination module 126 can use to determine a haptic
effect includes rules programmed to make decisions to select a
haptic effect. Another example includes lookup tables or databases
that relate haptic effects to data received from the sensor or
antenna.
The haptic control module 134 obtains haptic data corresponding to
the haptic effect identified by the haptic determination module
126. As noted herein, the haptic data corresponds to the determined
haptic effect and define parameters or electrical characteristics
used to generate the haptic actuation signal applied to the haptic
actuator 102. The haptic control module 134 can obtain the haptic
data from memory or calculate the haptic data. The haptic control
module communicates the haptic data to the I/O controller 120,
which then generates a haptic signal embodying the haptic data. The
I/O controller communicates the haptic signal to the Actuator Drive
Circuit 114 which amplifies the haptic signal to generate the
haptic actuation signal and applies the haptic actuation signal to
the actuator 102. The I/O controller 120 and the actuator drive
signal may perform additional processing to the haptic data, haptic
signal, and actuator drive signal.
The communication module 130 facilitates communication between the
controller 104 and remote devices. Examples of remote devices
include computing devices, sensors, other wearable articles,
networking equipment such as routers and hotspots, vehicles,
exercise equipment, and smart appliances. Examples of computing
devices include servers, desktop computers, laptop computers,
tablets, smartphones, home automation computers and controllers,
and any other device that is programmable. The communication can
take any form suitable for data communication including
communication over wireless or wired signal or data paths. In
various embodiments, the communication module may configure the
controller 104 as a centralized controller of wearable articles or
other remote devices, as a peer that communicates with other
wearable articles or other remote devices, or as a hybrid
centralized controller and peer such that the controller can
operate as a centralized controller in some circumstances and as a
peer in other circumstances.
Alternative embodiments of the program modules are possible. For
example, some alternative embodiments might have more or fewer
program modules than the event detection module 124, haptic
determination module 126, communication module 130, and haptic
control module 134. For example, the controller 104 can be
configured to deliver only a single haptic effect. Such embodiments
might not have a haptic determination module 126, and the event
detection module 124 or some other module would cause the haptic
control module 134 to send only a single set of haptic data to I/O
controller 120. In other alternative embodiments, there is no event
detection module 124 and the haptic control module 134 sends haptic
data to the I/O controller 120 upon the controller 104 receiving
any input from the sensor 112.
In some possible embodiments, one or more of the program modules
are in remote devices such as remote computing devices or other
wearable articles. For example, the event determination module 124
can be located in a remote computing device, which also stores a
library of events corresponding to haptic effects and rules that
define when to deliver a haptic effect. In such an embodiment, the
controller 104 communicates data to the remote device when the
event detection module 124 determines that a haptic effect should
be delivered through the actuator 102. The data might be as simple
as a flag indicating that the controller 104 received an input from
the sensor 112, or more complex such as identifying the type of
condition indicated by the sensor 112 or identifying the type of
sensor 112 from which an input signal was received. The haptic
determination module 126 on the remote device will process the data
and instructions, retrieve matching haptic data from memory 122,
and then transmit the haptic data to the controller 104 for
processing and generating a haptic effect through the actuator 102.
In yet other possible embodiments, the event detection module 124
is also located in a remote device, in which case the controller
104 communicates data to the remote device when it receives input
from the sensor 112.
In one embodiment, the haptic enabled article 100 further includes
a network interface controller (NIC) 108. An antenna 113 is in
electrical communication with the NIC 108 and provides wireless
communication between the controller 104 and remote devices. The
communication module 130 is programmed to control communication
through the antenna 113 including processing data embodied in
signals received through the antenna 113 and preparing data to be
transmitted to remote devices through the antenna 113.
Communication can be according to any wireless transmission
techniques including standards such as Bluetooth, cellular
standards (e.g., CDMA, GPRS, GSM, 2.5G, 3G, 3.5G, 4G), WiGig, IEEE
802.11a/b/g/n/ac, IEEE 802.16 (e.g., WiMax).
The NIC 108 also can provide wired communication between the
controller 104 and remote devices through wired connections using
any suitable port and connector for transmitting data and according
to any suitable standards such as RS 232, USB, FireWire, Ethernet,
MIDI, eSATA, or thunderbolt.
FIG. 3 is a block diagram illustrating a networked environment 141
in which the haptic enabled article 100 illustrated in FIGS. 1 and
2 can operate. As illustrated, the haptic enabled article 100 can
operate within and communicate with a network 140 and remote
devices. Examples of remote devices include computing devices 142,
sensors 112, and other remote devices 143 such as other wearable
articles, medical devices, fitness monitors and equipment,
vehicles, smart appliances, and other devices. In other
embodiments, the network 140 provides data communication with
different combinations of remote devices or remote devices other
than those disclosed herein.
The network 140 operates in an environment 141 in which the haptic
enabled article 100 would be worn such as in a building, an
automobile or other vehicles, or a defined area in the outdoors.
Additionally, in various embodiments, the network 140 is a public
network, private network, local area network, wide area network
such as the Internet, or some combination thereof.
In various embodiments, the computing device 142 communicates with
the controller 104 on the haptic enabled article 100. In such
embodiments, the computing device 142 executes program modules to
process data and communicates data to the controller 104. For
example, the computing device 142 receives input from a sensor 112,
which could be in the haptic enabled article 100 or remote from the
haptic enabled article 100. The computing device 142 then
communicates the sensor data to the controller 104 in the haptic
enabled article 100 for processing and generation of the haptic
actuation signal. In another example, the computing device 142
receives data from one wearable article and relays that data to the
controller in another wearable article to coordinate the delivery
of haptic effects between different wearable articles. In another
example, the computing device 142 receives data from other remote
device 143 such as a smart appliance or exercise equipment and
relays that data to the controller in the wearable article. In yet
another possible embodiment, the controller 104 in the haptic
enabled article 100 communicates data such as sensor readings to
the computing device 142, which then determines whether to deliver
a haptic effect or what haptic effect to deliver. The computing
device 142 then returns appropriate data to the controller 104.
Additionally, in various embodiments, the haptic data defining the
haptic effect and defining the parameters for the haptic actuation
signal can be determined by the computing device 142
Referring now to FIGS. 4A and 4B, the actuator 102 includes a
substrate 202 defining a channel 204 and a reservoir 210 in fluid
communication with the channel 204. A fluid 205 is held within the
reservoir 210 and selectively flows from the reservoir 210 and
through the channel 204, and then back into the reservoir 210.
First and second electrodes 201 and 203 are positioned proximal to
oppositely disposed portions of the substrate 202. When an
electrical potential is applied to the first and second electrodes
201 and 203, they generate an electrical field. The first and
second electrodes 201 and 203 are arranged and sized so that when
they are energized with a predetermined electrical potential, the
channel 204 and reservoir 210 will be positioned entirely within
the electrical field, although in alternative embodiments portions
of the channel may be located outside of the electric field.
Additionally, although the first and second electrodes 201 and 203
are illustrated as being proximal to oppositely disposed portion of
the substrate, the electrodes 201 and 203 can have any position
such that the channel 205 is exposed to an electric field generated
between the electrodes.
The substrate has oppositely disposed end portions 200a and 200b
and oppositely disposed edge portions 207a and 207b. In this
configuration, the substrate 202 has a length, l, substantially
longer than its width, w. However, other embodiments have different
shapes for the substrate 202. For example, the substrate 202 can be
square, round, or irregularly shaped. The thickness or depth, d, of
the substrate 202 can vary in various configurations. For example,
the thickness d can depend on the size (e.g., diameter) of the
channel 204. In an example embodiment, the thickness or depth, d,
of the substrate 202 is about 2 mm when the channel 204 has a
diameter of 0.7 mm. The substrate 202 is at least partially made of
flexible and dielectric material. Examples of materials that can be
used to form the substrate include elastomers, such as Elastosil
available from Wacker Chemie AG (Munich, Germany).
In the exemplary embodiment illustrated in FIGS. 4A and 4B, the
channel 204 has a plurality of parallel columns that form a
generally zigzag path that provides a fluid path back and forth
from end-to-end 200a to 200b and from edge-to-edge 207a to 207b. In
this configuration, when the channel 204 is substantially filled
with the fluid 205, substantially the entire substrate 202 has an
increased stiffness. Increasing stiffness over substantially all of
the substrate 202 will increase the haptic sensation transmitted to
a user and make it more likely the user will feel the substrate 202
changes stiffness. Although a zigzag path for the channel 204 is
illustrated, other embodiment can have other configurations such as
a straight line, spiral paths, rectangular or circular paths, or
any other path. Additionally, the channel 204 can extend across
substantially the entire length and width of the substrate 202 as
illustrated or across only a portion of the length and width of the
substrate 202. The total length of the channel 204 and/or the
number of columns in which the channel 204 is arranged are chosen
depending on the length and width of the substrate 202 and a
desired strength of haptic effect. For example, the more area of
the substrate 202 covered by the channel 204 and the longer the
channel 204, the stronger the haptic effect.
In an exemplary embodiment, the channel 204 has a diameter of about
0.1 mm to about 5 mm, which can vary depending on factors such as
the type of the fluid or manufacturing tolerances. A factor that
may be used to determine the cross-sectional diameter of the
channel includes providing enough volume of fluid 205 in the
channel 204 to change the stiffness of the substrate 202 an amount
noticeable by a user. Another factor that may affect the
cross-sectional area of the channel 204 is providing a relationship
between the total surface tension of the fluid 205, interfacial
tension between the fluid 205 and the wall of the channel 204, and
cross-sectional area of the channel 204 that permits control of a
capillary action of the fluid 205 and channel 204. Other
embodiments, however, may not rely on capillary action to move the
fluid 205 within the channel 204.
The reservoir 210 is sized so it has a volume equal to or greater
than the total volume of the channel 204. In this embodiment, the
reservoir 210 can hold enough fluid 205 to fill the channel 204. In
alternative embodiments, the reservoir 210 has a volume smaller
than the total volume of the channel 204.
Additionally, the reservoir 210 can hold a volume of fluid 205 that
is equal to or smaller than the volume of the reservoir 210 so that
all of the fluid 204 can be withdrawn from the channel 204 and held
in the reservoir 210. Alternative embodiments can hold a volume of
fluid 205 that is greater than the volume of the reservoir 210 so
that some fluid 205 is still in the channel 204 when the reservoir
210 is complete filled. Yet another embodiment, the entire
reservoir 210 and channel 204 are filled with fluid 205, but not
enough fluid 205 that it is under pressure and increases the
stiffness of the substrate 202. Because the reservoir 210 and
channel 204 are filled with fluid 205, propelling additional fluid
205 from the reservoir 210 to the channel 204 increases the
pressure of the fluid 205 more quickly than if the channel 204
first needs to be filled, which enables delivering a haptic effect
more quickly.
The fluid 205 within the reservoir 210 and channel 204 can be any
type of fluid that flows when subject to an external force such as
an electric field or magnetic field. In at least some embodiments,
the fluid 205 is non-compressible. In at least some embodiments,
the fluid 205 is a liquid metal capable of phase shifting so that
its oxidation can be controlled by exposure to electric fields.
Eutectic gallium and indium (EGaIn) is an example of such a liquid
metal. An example mixture of gallium and indium is 75% gallium and
25% indium with conductivity of 3.4.times.10.sup.6 S/m. An
advantage of EGaIn is that it is nontoxic as compare to other
liquid metals such as mercury. Examples of other phase-shifting
liquid metals include mercury, francium, cesium, gallium, rubidium,
and alloys of these materials.
In other embodiments, the fluid 205 is a liquid that changes its
stiffness after changing its phase to solid (i.e., liquid-solid
transition). For example, the fluid 205 contains a liquid metal
that can change shape into a solid below a predetermined
temperature, or a liquid that can be crystallized at a
predetermined temperature. In other examples, the fluid 205
includes a liquid that has yield strength such that the fluid 205
becomes liquid if an external shear stress is higher than the yield
strength. In yet other examples, an ionic liquid is selected to
induce some reversible change in mechanical properties or
microstructure of the fluid 205, such as liquid metals.
Referring to FIG. 5, another embodiment of the actuator 102 is
similarly configured as the actuator 102 as described in FIGS. 4A
and 4B and further includes a second reservoir 211 for an
electrolyte 206. In this embodiment, the electrodes 201 and 203 are
in contact with the first reservoir 210 and the second reservoir
211, respectively, either directly or through, for example, wires
209. For brevity, the description of the other elements and
configurations are omitted.
Referring now to FIGS. 6A-6D, when the fluid comprises certain
metals or other materials, the channel 204 also can be loaded with
an electrolyte 206. In this embodiment, when the actuator 102 is in
its relaxed state, the reservoir 210 is loaded with the liquid
metal 205 and the channel 204 is loaded with an electrolyte 206. In
the embodiment of FIG. 5, the first reservoir 210 is loaded with
the liquid metal 205, and the second reservoir 211 is loaded with
the electrolyte 206. An advantage of using an electrolyte is that
it can selectively cause the fluid to oxidize, which reduces the
surface tension between the fluid 205 and the wall of the channel
204 and makes it easier to move the fluid through the channel 204.
Examples of an electrolyte that can be used include sodium
hydroxide (NaOH), sodium chloride (NaCl), or other conductive
solutions containing sodium (Na.sup.+), potassium (K.sup.+),
calcium (Ca.sup.2+), magnesium (Mg.sup.2+), chloride (Cl.sup.-),
hydrogen phosphate (HPO.sub.4.sup.2-), and hydrogen carbonate
(HCO.sub.3.sup.-) and etc. Other embodiments may not include an
electrolyte in the channel 204. Although the exemplary embodiment
illustrates an electrolyte loaded in the channel with the fluid
205, other embodiments will not include an electrolyte or any other
fluid other than fluid 205.
In operation, the channel 204 can be loaded with the fluid 205 such
as EGaIn on the side of the first reservoir 210 and with an
electrolyte 206 on the side of the second reservoir 211. The first
reservoir 210 is connected to the first electrode 201 and the
second reservoir 211 is connected to the second electrode 203. A
power supply through the first and second electrodes generates an
electrical potential between the first and second reservoirs. In
some embodiments, the electrical potential is a DC potential.
Application of a positive DC potential to the fluid 205 injects the
fluid into the channel and displaces the electrolyte in the
channel. Reversing the voltage polarity causes the fluid 205 to
withdraw toward the first reservoir 210. The speed of the movement
of the fluid 205, such as EGaIn, can vary with the applied bias. By
way of example, where the channel has 0.7 mm inner diameter, the
EGaIn can withdraw from the channel at 3.6 mm/s using -0.7 V. The
same channel can require a +7.7 V bias to inject the EGaIn at 0.6
mm/s rate. The larger voltage is necessary to drive oxidation of
the surface and to overcome the potential drop through the
electrolyte in the channel.
When an electrical potential is applied between the first and
second reservoirs 210 and 211, the electric field causes the fluid
205 to oxidize such that oxide forms on the surface of the liquid
metal. The electrolyte 206 then forms a slip layer between the
oxide and the walls of the channel 204 and reduces the interfacial
tension between the EGaIn and the wall of the channel 204.
Additionally, the oxidation lowers the surface tension and energy
of the fluid 205 so that it can flow past the electrolyte 206. As
the surface tension and energy of the fluid 205 decreases, the
Laplace pressure of the fluid 205 decreases relative to the
electrolyte 206. The oxidation changes the surface energy of the
fluid 205 (e.g., liquid metal) at the interface with ionic solution
(e.g., the electrolyte 206). Prior to applying an external voltage,
the fluid 205 in the reservoir 210 cannot move to the channel 204
due to the capillary effect resulting from the ionic solution
(e.g., the electrolyte 206). When an external voltage is applied,
the surface tension of the fluid 205 changes at the interface and,
thus, can overcome the capillary effect from the ionic solution
(e.g., the electrolyte 206) and move into the channel 204. As
illustrated in the sequence illustrated from FIGS. 6A to 6B, the
movement of the fluid 205 into the channel 204 causes it to stiffen
the substrate 202. As the fluid 205 moves through the channel 204
the electrolyte 206 is displaced into the periphery areas from
where the liquid metal was moved as illustrated in FIG. 6B. Enough
fluid 205 flows into the channel 204 so that it is under pressure
and it increases the stiffness of the substrate 202. When polarity
of the electrical potential is switched to negative, the oxide is
removed from the surface of the fluid 205 and its surface tension
increases, which decreases the surface area to volume ratio of the
fluid 205. As the surface tension increases, the Laplace pressure
of the fluid 205 decreases relative to the electrolyte 206. As
illustrated in the sequence illustrated from FIGS. 6C to 6D, the
fluid 205 then moves in the opposite direction back into the
reservoir 210, which reduces the stiffness and increases the
flexibility of the substrate 202.
The actuator 102 can be tuned by adjusting the amplitude of the
voltage applied across the first and second electrodes 201 and 203.
As the amplitude of the voltage increases, the strength of the
electric field increases and the fluid 205 will flow faster and
exert a greater pressure against the substrate 202. This greater
pressure will cause a greater stiffness of the substrate 202 and
create a stronger haptic effect against the user's body.
Additionally, the fast flow of the fluid 205, which is caused by
the increased electric field, will decrease the lag time between
application of the electric potential across the first and second
electrodes 201 and 203 and movement of the fluid 205 into the
channel 204. This decreased lag time provides a quicker response
time for increasing the stiffness of the substrate 202 and quicker
delivery of a haptic effect to the user. Additionally, in an
exemplary embodiment, the flow rate and pressure of fluid 205 in
the channel 204 can be determined by Poiseuille's law. By way of
example, when 0.7 Volts is applied to the electrodes, Poiseuille's
law calculates that the EGaIn exerts a force of 0.1 N against a
channel wall when flowing through a channel having a diameter of 2
mm at a velocity of 20 cm/sec.
Referring now to FIG. 7, a stiffness of the substrate 202 can be
calculated with a parametric formulation as an example. In this
illustration, the substrate 202 is configured as an elastomer
strap. It is noted that the force is a shear force with a moving
force location or action point. The action point of the shear force
moves because a higher density mass (e.g., fluid 205) is moving
through a lower density mass (e.g., electrolyte 206). As
illustrated, a vertical maximum displacement (.delta..sub.MAX) at
the free end of the substrate 202 is described as follows in
equation (1):
.delta..times..times..times. ##EQU00001## where F is a force, l is
a length of the substrate 202, E is Young's modulus, and l is the
second moment of area. A stiffness (k) of the substrate can then be
calculated as follows in equation (2):
.times..times..times..times. ##EQU00002## where
##EQU00003## w is a width of the substrate, and t is a thickness of
the substrate. In an example design, where E=0.05.times.10.sup.9,
w=20 mm, t=3 mm, and l=100 mm, k is calculated to be 6.75 N/m.
FIG. 8 illustrates an alternative embodiment of the actuator 102.
In this embodiment, the actuator 102 has an actuation portion 222
and a non-actuation portion 224. The actuation portion 222 includes
a portion of the substrate 202 in which the channel 204 is defined
as disclosed in more detail herein. The non-actuation portion 224
does not define a channel 205. In this embodiment, the actuation
portion 222 of the actuator 102 can be selectively stiffened to
generate a haptic effect, while the non-actuation portion 224
remains compliant.
FIGS. 9A and 9B illustrate other alternative embodiments of the
actuator 102. In these embodiments, the actuator 102 includes first
and second channels 232 and 234, which are substantially similar to
the channel 205. The first channel 232 (e.g., upper channel) is
positioned proximal one surface 240a of the substrate 202 and the
second channel 234 (e.g., lower channel) is spaced from the first
channel 232 and positioned proximal an opposite surface 240b of the
substrate 202 in a layered-type of arrangement. In the illustrated
embodiment, the first and second channels 232 and 234 directly
oppose each other and run parallel to each other. In alternative
embodiments, however, the first and second channels 232 and 234 do
not directly oppose each other and run orthogonally to each other,
at an angle to each other, or in some other orientation relative to
each other. In other embodiment, the first and second channels 232
and 234 can have any suitable positioned relative to each other.
Other embodiments may have more than two channels. The independent
channels 232 and 234 can be controlled together and in unison to
create a stronger tactile sensation or controlled independently to
create a greater variety of tactile sensations. Additionally, the
first and second channels can be in fluid communication with a
common reservoir for the fluid 205, or each channel 232 and 234 are
in fluid communication with separate reservoirs.
As illustrated in FIG. 9A, the first and second channels 232 and
234 are positioned in planes that run parallel to each other and
thus do not cross paths. In an alternative embodiment as
illustrated in FIG. 8B, the paths of the first and second channels
232 and 234 cross over each other at least one point within the
substrate 202.
FIG. 10 is a schematic diagram of another exemplary embodiment of
the haptic actuator 102. In this embodiment, the substrate 202 of
the actuator 102 includes a main portion 251 and one or more
contact portions 252.sub.1-252.sub.n that are positioned along one
surface of the substrate 202 that is intended to be positioned
against or otherwise opposing a user's skin when the article 100 is
worn by the user. The contact portions 252.sub.1-252.sub.n are
configured to be less stiff and more flexible than the main portion
251 of the substrate 202. In exemplary embodiments, the contact
portions 252.sub.1-252.sub.n are made of one or more materials
different than the material used to form the main portion 251 of
the substrate. As illustrated, the contact portions
252.sub.1-252.sub.n can include a plurality of pieces that are
attached to the surface of the main portion 251 in a desired
arrangement, or can include a plurality of protrusions that are
integrally formed in a desired arrangement along the surface of the
main portion 251. The contact portions 252.sub.1-252.sub.n provide
a softer and more comfortable feel against a user's skin than the
main portion 251 of the substrate, but still provide a tactile
sensation to the user for the haptic effect. Alternatively, the
contact portions 252.sub.1-252.sub.n can be stiffer and less
flexible than the main portion 251.
In alternatives to the embodiment illustrated in FIG. 10, one or
more portions of the channel 204 can run from the main portion 251
of the substrate 202 and through or near one or more of the contact
portions 252.sub.1-252.sub.n. The portions of the channel 204 that
pass through or near the contact portions 252.sub.1-252.sub.n can
have a different diameter than the portions of the channel 204 that
pass the main portion 251. For example, the portions of the channel
204 that pass through or near the contact portions
252.sub.1-252.sub.n can have a smaller diameter than the portions
of the channel 204 that pass the main portion 251.
FIG. 11A is a schematic diagram of yet another exemplary embodiment
of the haptic actuator 102. In this embodiment, the fluid 205 in
the reservoir 210 and channel 204 is a liquid that contains
molecules having ferrous properties so they are attracted to
magnetic fields. Alternatively, the fluid 205 might be a ferrofluid
that becomes magnetized in the presence of a magnetic field or
other colloidal suspension having microscopic or nanoparticles that
are disbursed throughout the liquid and do not settle. The fluid
205 also can be a magnetorheological fluid or other solution having
suspended ferrous particles.
In this embodiment, coils 262 and 264 are positioned at opposite
ends of the channel 204. In operation, the coils are wound in
opposite directions so that the flux fields emanating from the
energized coils point in the same direction and do not cancelled
each other and are wired to the actuator drive circuit 114 so they
have the same polarity. Alternatively, the coils 262 and 264 are
wound in opposite directions and are wired to the actuator drive
circuit 114 so they have opposite polarities. In operation, the
coils 262 and 264 are energized, which creates a magnetic field
that applies a magnetic force to the fluid 205 and causes it to
move from the reservoir 210 and into the channel 204, which
stiffens the substrate 202. The polarity of the coils 262 and 264
can be reversed, which reverses the direction or polarity of the
magnetic field. The reversed polarity of the magnetic field causes
the fluid 205 to flow from the channel 204 back into the reservoir
210, which reduces the stiffness and increases the flexibility of
the substrate 202. Alternative embodiments might use only a single
electrical coil.
FIG. 11B illustrates yet another alternative embodiment of the
actuator 102. In this embodiment, a pump 266 such as an
electromechanical pump, is in fluid communication with a reservoir
and the channel 204. The pump 266 can be on a
microelectromechanical (MEMS) or even a nanoelectromechanical scale
(NEMS). In operation, the actuator drive circuit 114 applies the
drive signal to the pump to move the fluid 205 from the reservoir
210 to the channel 205 and then back from the channel 205 to the
reservoir 210.
The actuator 102 disclosed herein, can be used in a variety of
applications and in a variety of different haptic enabled articles
100. FIGS. 12-14 illustrate some of the many example applications
of the haptic enabled article 100 as described herein.
The various embodiments of the haptic actuator 102 disclosed herein
can be manufactured in various manners. In one manufacturing
method, mold is created with a 3D printer. The mold is configured
to provide the channel for the fluid. During manufacturing, one or
more materials for the substrate are prepared and poured into the
mold. After the materials are cured, the channel is filled with the
fluid 205. The electrolyte is first injected into the channel. The
liquid metal is then injected into the channel. In an alternative
method, the actuator is directly produced by 3D printing. In this
method, the 3D printer is used to form the substrate. As the
substrate is being formed, the 3D printer will form the channel by
printing the substrate material around the location of the channel.
Additionally, the 3D printer will deposit the fluid in the channel
as it is defined by channel. In this embodiment, the 3D printer
will alternate between printing the substrate material and printing
the fluid into the channel depending on whether the print head is
located over an area designated for the substrate or an area
designated for the channel.
Referring now to FIG. 12, the haptic-enabled article 100 is a
wristwatch 300 having a watch strap 302. The actuator 102 is
embedded in the watch strap 302. The controller 104 can be located
in the wristwatch 300 or in the watch strap 302. In operation, when
the controller 104 receives an input corresponding to a haptic
event, it actuates the actuator 102. The liquid flows into the
channels 205 of the substrate 202 causing it to stiffen, which in
turn causes the watch strap 302 to stiffen. The user can feel the
watch strap 302 stiffen around their wrist thereby being notified
of the information embodied in the haptic effect. An example
operation is a smart watch that receives text messages actuates the
haptic actuator 102 notifying the user that a new message has been
received. Another example might be a wristwatch 300 that has an
alarm function. The wristwatch 300 will actuate the haptic actuator
102 when the alarm is triggered thereby notifying the user. Other
examples, might involve activity or fitness trackers that actuate
the haptic actuator 102 when certain events occur such as a
measured heart rate rising above a threshold level (e.g., heart
monitor function) or a certain number steps being taken by the user
(e.g., pedometer function).
FIG. 13 illustrates another example in which the haptic-enabled
article 100 is a garment 310 such as a shirt or a jacket. In this
example, the haptic actuator 102 and controller 104 are positioned
along the inside surface of the garment 310 so it is not visible to
other people, although they can be located anywhere on the garment
310. In various embodiments, the haptic actuator 102 and the
controller 104 can be mounted on a patch (not shown) that is in
turn mounted on the garment 310, or the haptic actuator 102 and
controller 104 can be connected directly to the fabric of the
garment 310 itself. Additionally, the actuator 102 can be
positioned at a variety of locations on the garment including
collars, cuffs, and the main panel of the garment 310. FIG. 14
illustrates another example in which the haptic actuator 102 is
mounted on a necktie 321 along one or more portions of the tie 321
that is likely to be positioned around the user's neck and under
the collar 323 of a dress shirt 325. In this embodiment, the
necktie 321 tightens around the user's neck when the actuator 102
becomes stiffer upon actuation thus delivering the haptic
effect.
As described herein, the methodology and/or configurations of the
present disclosure are used in various applications. For example,
the haptic enabled device 100 of the present disclosure is
applicable in a vibrating system. The methods described herein can
be used to change the stiffness of a vibrating system. As the
stiffness of a vibrating system changes, a vibrating system can
have different resonant frequencies, thereby providing different
haptic outputs.
The various examples and teachings described above are provided by
way of illustration only and should not be construed to limit the
scope of the present disclosure. Those skilled in the art will
readily recognize various modifications and changes that may be
made without following the examples and applications illustrated
and described herein, and without departing from the true spirit
and scope of the present disclosure.
* * * * *
References